This is the same example as HBridge_RL 
but using a triangle (instead of a sawtooth) as pwm reference signal. 
This enables an easy sampling of the current in the middle of the pwm period, which delivers with good approximation the mean current: 
Compare meanCurrent.y and zeroOrderHold.y. 
For discrete or quasi-continuous control it is essential to sample the correct mean current with low effort once during the pwm period.